Minimum_Time_Cubic_Spline
所属分类：matlab编程
开发工具：matlab
文件大小：7KB
下载次数：29
上传日期：2018-10-23 10:31:23
上 传 者：
xiong。
说明： 基于最短时间的三次样条插值，可用于机械臂轨迹规划
(Based on the shortest time three spline interpolation, it can be used for trajectory planning of manipulator.)
文件列表:
con_fun_dynamic.m (1611, 2017-08-12)
confuneq.m (677, 2017-08-12)
confuneqMultipleQs.m (809, 2017-08-12)
cubic_driver.m (382, 2017-08-12)
cubic_spline.m (510, 2017-08-12)
cubic_spline_multiple.m (998, 2017-08-12)
genOptimizedTraj.m (2633, 2017-08-12)
objfun.m (43, 2017-08-12)
plot_cubic_spline.m (587, 2017-08-12)
RobotTrajectoryGeneration.asv (1388, 2017-08-12)
SplineGeneration.m (1011, 2017-08-12)
SplineGenerationMultipleQs.m (1639, 2018-05-04)
## Synopsis
A simple and easy to follow matlab code demonstrating the generation of optimized minimum time cubic splines with general boundary velocities and maximum velocity constraints.
It also includes multivariable spline generation as usually is the case for robotic manipulator.
Further constraints can be easily added for single or multiple variables.
## Motivation
This project is carried out specifically for creating minimum time trajectories for robotic manipulators with n-dofs with general velocity and torque constraints.
Although in this project torque constraints are not added as it requires the specific use of robot dynamics.
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